Fig. 3

Schematic views of a Fiber-Reinforced Elastomeric Enclosure. We model the force contributions of fibers as a single fiber to facilitate the derivation of the lumped-parameter model (Constituents). Elongation s and rotation \(\phi\) are the two degrees of freedom of the FREE. FREE’s Geometric Properties are variable and pneumatic pressure produces reaction forces and moments at the end cap (Free Body Diagrams). Note that the fiber itself is not depicted in the Free Body Diagrams